Sinee EA180 Series Manual
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Thank you for choosing EA180 series servo drive!
Document NO. : 31020005
Release Time: 2017-11
Version: 100
EA180 series servo drive is a high performance small and medium power AC servo unit developed by Shenzhen Sine Electric
Co.,Ltd. This series of products adopts advanced motor control special DSP chip, large scale programmable gate array (CPLD/FPGA)
and PIM power module, which has the characteristics of high integration, small volume, perfect protection and high reliability. The
optimized PID control algorithm realizes precise digital control of torque, position and speed, with high precision and fast response.
It provides advanced functions such as rigid selection, real-time automatic gain setting and automatic resonance suppression. Has
rich digital and analog interface, support MODBUS communication protocol, convenient networking. Two sub series respectively
support the use of 2500PPR incremental pulse encoder or Tamagawa 17 bit, 23 bit absolute incremental motor encoder with high
precision, to meet the different requirements of cost and performance. Can be widely used in CNC machine tools, printing and packaging
machinery, textile machinery, robotics, automated production lines and other automation fields.
EA180 series servo drive, there are two kinds of models that support EtherCAT bus and Canopen bus separately.
Because we have always been committed to the continuous improvement of product and product information, and therefore. The
information provided by our company is subject to change without notice.
For the latest changes and more,please visit www.sineedrive.com
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  • Page 1 Version: 100 EA180 series servo drive is a high performance small and medium power AC servo unit developed by Shenzhen Sine Electric Co.,Ltd. This series of products adopts advanced motor control special DSP chip, large scale programmable gate array (CPLD/FPGA) and PIM power module, which has the characteristics of high integration, small volume, perfect protection and high reliability.
  • Page 2 EA180 Servo Drive Manual Chapter 1 Product information 1.1 EA180 servo drive 1.1.1 Description of the nameplate EA180-8R4-3A Model Rated output current Applicable motor size Mains supply Output Barcode Software version XXXXXX 1.1.2 Model Description EA 180 E–8R4–3B-XX Special Version EA:Servo drive Encoder Type A:Pulse incremental...
  • Page 3 EA180 Servo Drive Manual 1.1.4 Block diagram of EA180 servo drive Mains supply External braking resistor 1 phase/ 3 phase 220V, 3 phase 380V Servo drive Built-in IGBT module braking resistor Cooling fan Servo motor CHAR When 1-phase, L3 not used +15V Protection encoder...
  • Page 4 EA180 Servo Drive Manual 1.2 Servo motor 1.2.1 Description of the nameplate Motor type Rated output power Rated input voltage Rated current Rated torque Rated speed Insulation class Motor code Protection grade Barcode and Serial number Note: The actual wording on the nameplate may be different from above picture 1.2.2 Model Description SER 08 - 0R7- 30 - 2 A...
  • Page 5 EA180 Servo Drive Manual 1.3 Confirm if the drive and motor matches with each other 1.3.1 Servo drive and motor matching table Servo Drive Servo Motor Motor Rated Rated Drive Model Voltage Size Motor Model Power Speed Torque 3000rpm 0.32Nm SES04-0R1-30-2□AY□...
  • Page 6 2.2 Built in braking resistor EA180 series drive starting from 5R5 contains a braking resistor that is suitable for general load inertia. Table 2-2 is the specifications for EA180 series built-in brake resistors. Table 2-2 EA180 Built in brake resistance and Allowable minimum external resistance...
  • Page 7 EA180 Servo Drive Manual Chapter 3 Wiring 3.1 Peripherals connection 3-phase 220VAC/380VAC breaker EMI filter Contactor SINEE EA130A EA180 Servo drive, PC communication cable When braking resistor and bus capacitor is not enough, P + 、 C connected to external braking resistor.
  • Page 8 EA180 Servo Drive Manual 3.2 Main circuit terminal connection The main circuit (high voltage part) terminal arrangement and screw dimensions are as follows. Main circuit terminals Drive size Screw size Torque SIZE A 2.5N.m SIZE B 2.5N.m SIZE C 2.5N.m PE ground terminal Drive size Screw size...
  • Page 9 EA180 Servo Drive Manual  Three phase power supply wiring method (all series are applicable) 3-phase power supply connection 1. if you do not want to cut off the main loop power supply when a fault occurs, you do not need to use the RA Note☞...
  • Page 10 EA180 Servo Drive Manual Table 3-2 Servo motor power cable and servo motor connecting terminal Connector shape and type Terminal pin distribution Motor flange 4PINAmp plug (excluding brake) Pin# function Shell type:172159-1 TE MATE-N-LOCK Insert spring type:794407-4 TE MATE-N-LOCK Air plug (excluding brake) Pin# function Model:YDA28K4TS...
  • Page 11 EA180 Servo Drive Manual 3.3 CN5 Encoder signal terminal 3.3.1. CN5 is the encoder signal terminal, which is DB15 socket, and its position is shown in Figure 3-4: SINEE EA180 EA100 CHARGE Figure 3-4 CN5 terminal location 3.3.2 Drive side encoder terminal definition...
  • Page 12 EA180 Servo Drive Manual *:For motors with flanges 110 and above, all encoders use the same plug, but pin definitions different only.  The amp plug adapter: for motor flange 86 and below, pin definition refer to table 3-4a, 4b Motor-end connector Appearance 2500ppr incremental encoder...
  • Page 13 EA180 Servo Drive Manual When using a 17/23bit encoder, if the wire length is below 5 meters, the wire cross-sectional area is 0.2mm2. If more than 5 meters, each increase of 1 meters, the core cross sectional area should be increased by 0.05mm2.
  • Page 14 EA180 Servo Drive Manual CN4 connector 3.4.1 The CN4 signal terminal provides the signal needed for connection with the upper controller. Here below is the DB44 plug, pin distribution and signal definition. SINEE EA100 EA180 CHARGE Figure 3-7 CN4 pins location and definition 3.4.2 CN4 pins location and definition...
  • Page 15 EA180 Servo Drive Manual Signal Pin # Description SIGN- Position direction instruction - A pulse differential frequency division output, maximum allowable current 20mA B pulse differential frequency division output, maximum allowable current 20mA Freq. diverting output B pulse differential frequency division output, maximum allowable current 20mA Z pulse open collector output with maximum permissible current 40mA.
  • Page 16 Invalid: Homing is in the process 3.4.5 Digital input terminal connection The digital (DI) input terminal of the EA180 series servo drive uses a full bridge rectifier circuit. The current flowing through the terminals can be either positive (NPN mode) or negative (PNP mode).
  • Page 17 EA180 Servo Drive Manual As for NPN open collector circuit output: Internal 24V supply External 24V supply Servo drive Servo drive +24V +24V +24V supply +24V supply COM+ COM+ DC24V 4.7K 4.7K Figure 3-9(a) NPN open collector circuit output wiring diagram As for PNP open collector circuit output: Internal 24V supply External 24V supply...
  • Page 18 EA180 Servo Drive Manual When the uppder device is optocoupler input Internal supply External supply Internal supply External supply No current No current DC5V~24V limiting limiting resistor DC5V~24V 25 +24V resistor +24V Servo drive Servo drive Servo drive Servo drive DO1- DO1- DO1-...
  • Page 19 EA180 Servo Drive Manual The pulse command can be input by an open collector circuit or a differential mode. The maximum input pulse frequency of the differential input mode is 500Kpps, and the maximum input pulse frequency of the open collector circuit is 200Kpps. The pulse input terminal needs to set a certain filtering time to prevent the interference signal from entering the servo drive, resulting in misoperation of the motor.
  • Page 20 EA180 Servo Drive Manual 3.4.8.1 Position command pulse differential input mode Servo drive 2KΩ Upper Computer 100Ω PULSE+ Minimum pulse width 100Ω PULSE- of pulse position command 1US The maximum input 2KΩ frequency is 500kpps 100Ω SIGN+ 100Ω SIGN- Figure 3-13 Differential mode input pulse command wiring diagram Please ensure "2.8V≤...
  • Page 21 EA180 Servo Drive Manual  When using the external 24V power supply and internal current limiting resistance External 24V supply and internal current External 24V supply and internal current limiting resistor PNP connection limiting resistor NPN connection Open collector pulse position command +24V +24V The maximum input frequency is...
  • Page 22 EA180 Servo Drive Manual  Typical examples of mis-connection Servo drive Servo drive +24V +24V Current limiting Current limiting resistance not connected resistance not 2KΩ 2KΩ PULHIP PULHIP separately used 100Ω 100Ω PULSE+ PULSE+ PULSE- PULSE- 100Ω 100Ω 2KΩ 2KΩ PULHIS PULHIS 100Ω...
  • Page 23 EA180 Servo Drive Manual Upper Upper Servo drive Servo drive computer computer Differential receive Optocoupler receive Figure 3-17 Frequency division output wiring diagram Encoder Z-phase frequency division circuit can provide a feedback signal by open collector output signal when the drive and the host device constituting the position control system.
  • Page 24 EA180 Servo Drive Manual CN1 analog monitoring output terminal CN1 terminal has two shapes, the pin description is as follows: Table 3-11 analog output Signal Pin # Function Pin location Circuit diagram Analog output 1, output voltage Servo drive -10V~10V , max.output current 1mA can set by P6 group codes Analog ouput 2, output voltage...
  • Page 25 EA180 Servo Drive Manual 3.7.3 Brake sequence 3.7.3.1 Brake engaged and disengaged delay time refers to following Figure s Servo enable(/S-ON) Power Motor power Power off Power off P0-11 Brake command Brake Disengaged Engaged Position/speed/ command torque command No command Motor speed 0 rpm P0-16...
  • Page 26 EA180 Servo Drive Manual Servo enable(/S-ON) Or alarm or power OFF Power on Motor power Power off P0-10 Motor speed Coast to stop Engaged Brake command Disengaged P0-09 Figure 3-23 Brake actions when the servo motor is rotating 1. Even if the value set in the P1-10 is more than the highest speed of the servo motor, it will be limited to the Note☞...
  • Page 27 EA180 Servo Drive Manual Figure 3-24 position control mode standard wiring diagram 3.8.2 Speed control mode standard wiring diagram Analog 1 Internal 24V supply +24V output +24V pulse 25 COM+ 21 Analog 2 S-ON Servo enabled output ALM-RST DI2 20 Alarm reset clear P-OT No positive drive...
  • Page 28 EA180 Servo Drive Manual 3.8.3 Torque control mode standard wiring diagram Analog 1 Internal +24V +24V output +24V Pulse COM+ 21 Analog 2 S-ON Servo enabled output ALM-RST DI2 20 Alarm reset clear P-OT No positive drive S-RDY Servo ready DO1- N-OT No negative drive...
  • Page 29 EA180 Servo Drive Manual Chapter 4 Display and operation 4.1 Appearance of display and buttons 88888 Model & S/N mode DOWN shift enter Buttons Sign Function description  Switching between different operating modes  Mode Exit the current parameter / function operation ...
  • Page 30 EA180 Servo Drive Manual  LED0 right bottom point“.”flashes,indicate that there is fault or alarm at present. << *:In the document, are the keys for cursor movement with the same function. SHIFT 4.2 Overview of drive operating modes EA180 servo drive has 7 operating modes: Operation mode Menu display level Function...
  • Page 31 EA180 Servo Drive Manual State monitoring mode Initial -Prdy .normal SHIFT Parameter D0-00 D0-00 monitoring mode ˄ level level SHIFT D1-00 D1-00 ˄ SHIFT D1-10 D1-10 ˄ Muilti-times Or no key press for 2s D1-12 Al013 ˅ ˄ ˄ Or no key ˅...
  • Page 32 EA180 Servo Drive Manual The value before and after change is the same: -End- the initial value is effective all the time The value before and after change is different: Halt Set any time, effective 1 second after motor is static. ☆...
  • Page 33 EA180 Servo Drive Manual A、New alarm B、Existing alarm, no key operation 10s Normal after pressing Mod key operation mode level level Alarm and alarm n-ot mode Or alarm disappears Here above is key operation when there is alarm, in alarm mode, it show alarm sign only(n-ot) , after alarm disappears, it will go back to normal operation mode.
  • Page 34 EA180 Servo Drive Manual State monitoring mode Initial -Prdy .normal Parameter D0-00 monitoring mode Parameter p0-00 setting mode level level Auxiliary level SHIFT AF-00 AF-00 function mode ˄ Multi- times ˄ s-on AF-03 s-on ˅ Set P1-01 AF-03 1s after display ˄...
  • Page 35 EA180 Servo Drive Manual Data size 16bit Communication address 3F02H Register value storage Operation Register value Keypad display ˄ ˅ AF-02 sjog , motor run forward, it shows , motor runs reverse, it Press Press _sjog -sjog -sjog shows . Do not press the button, the motor is static, reads * The speed of inching(JOG) operation is determined by P8-00, and the acceleration and deceleration time is decided by P8-01.
  • Page 36 EA180 Servo Drive Manual 1:When the zero drift is automatically corrected, it is necessary to ensure that the given command of the upper Note☞ computer itself is 0V (the actual voltage may not be 0) 2:Zero drift automatic correction is only applicable to external supply -10~10V 3:If the correction is performed, the actual voltage of AI terminal is over±...
  • Page 37 EA180 Servo Drive Manual -End- ,hide Pd group parameters Press , it shows -End- ,display Pd group parameters. Press , it shows Absolute encoder multi-turn data Data size 16bit Communication address 3F10H and fault handling Register value storage Automatically clear after completion Operation Register value Keypad display...
  • Page 38 EA180 Servo Drive Manual 1.1.1 Power on sequence Please refer to chapter 3.3.2,make sure the correct power on sequency。 5.2 Trial running 5.2.1 JOG running parameters setting The following parameters are set in the servo non enabled state. Parameter Name P8-00 JOG inching speed setting (usually can use factory value) JOG inching acceleration and deceleration time (usually can use factory...
  • Page 39 EA180 Servo Drive Manual Chapter 6 Detailed description of function parameters 6.1 d0-xx universal monitoring parameters Monitoring group parameters are to see the state of servo drive, can not be modified Initial value Commu.addr. 2000H Motor speed d0-00 Unit Type Display 16bit Control mode...
  • Page 40 EA180 Servo Drive Manual Note☞:This parameter can be modified to the encoder unit by setting P8-18 bit3 to 1. Please see the detailed description of P8-18 Initial value 00000000B Commu.addr. 200CH DI input terminal status d0-12 Unit Type Display 16bit Control mode P S T Range...
  • Page 41 EA180 Servo Drive Manual from enabled ON to enabled OFF. Initial value Commu.addr. 2016H IGBT module temperature ℃ d0-22 Unit Type Display 16bit Control mode P S T Range 0~150 Format Decimal Data size Internal temperature of IGBT module This drive has a perfect over temperature protection mechanism. Because of the temperature detection position, the temperature may be 100 degrees or higher, which is normal.
  • Page 42 EA180 Servo Drive Manual 5: the value of this parameter starts with the servo power on (the incremental system starts at 0, the absolute value system starts at the encoder location that is now received, and starts from Pb-07 after the origin returns). Initial value Commu.addr.
  • Page 43 EA180 Servo Drive Manual Initial value Commu.addr. 2104H The run time at this failure d1-04 Unit Type Display 32bit Control mode P S T Range 0~2147483647 Format Decimal Data size Display the elapsed running time of the servo drive. (since ex-factory) 6.3 d2-xx Product Information query parameters Initial value Commu.addr.
  • Page 44 EA180 Servo Drive Manual P0-00=5:Position -torque switching mode (zero speed) The drive operates in the position torque switching Position Position Torque mode mode and switches only at zero speed. mode mode Mode switching via DI terminals defined as MSEL Servo motor functions.
  • Page 45 EA180 Servo Drive Manual The drive operates in the position torque switching Position Position Torque mode mode, switching at any time. mode mode Servo Mode switching via DI terminals defined as MSEL motor functions. speed Regardless of whether the motor is rotated, by switching the status of the MSEL terminal, the drive will immediately switch between the two control modes of position and torque.
  • Page 46 EA180 Servo Drive Manual Positive direction time Positive direction P0_04+10 P0_04+10 -(P0_04-10) P0_04-10 time time Negative -(P0_04+10) Motor direction Motor -(P0_04+10) rotation TGON Negative rotation direction Motor TGON rotationTGON Initial value Commu.addr. 0005H The first torque limit source selection P0-05 Unit Valid time Immediately...
  • Page 47 EA180 Servo Drive Manual P0-08=0**H: treatment methods when the overshoot occurs. After the stop, the motor is in a free state (when the servo enabled is effective, the brake will not be enagaged). P0-08=1**H: when the overshoot occurs, press P0-18 setting time to slow down and stop at zero speed. After the stop, the motor is in a free state (when the servo enable signal is valid, the brake will not be engaged).
  • Page 48 EA180 Servo Drive Manual coast to stop P0-08 Ones place Satisfy the P0-14 time condition ,enabled ON stop at zero speed Satisfy P0-15 speed condition, enabled ON P0-13 stop at zero speed P0-12 Both P0-14 time and P0-15 speed condition are met, enabled on Unconditionally enabled ON immediately not stop at zero speed...
  • Page 49 EA180 Servo Drive Manual Initial value Commu.addr. 0014H Pulse output setting definition P0-20 Unit Valid time Power on again 16bit Control mode P S T Range Data size Parameter function: sets the meaning of the P0-21 parameter. P0-20=0:The setting value of P0-21 is before 4 frequency doubled, e.g. the pulse number of phase A or phase B ( 2500ppr encoder has this option only) P0-20=1:P0-21 the set value is after 4 frequency doubled, e.g.
  • Page 50 EA180 Servo Drive Manual The positiona command is derived from the multiple preset position command set by the P9 group. See the detailed description of P9 group. Initial value Commu.addr. 0101H External pulse command input mode Effectively after P1-01 Unit Valid time power on again 16bit...
  • Page 51 EA180 Servo Drive Manual The 3 parameters, P1-08, P1-10, and P1-12, are useful only if they require electronic gear ratio switching. The relationship between P1-02, P1-04, and P1-06, the function of (P1-08, P1-10, P1-12) is similar to that of P1-04. P1-02 P1-04 P1-06...
  • Page 52 EA180 Servo Drive Manual The signal width is less than Tf, after filtering, The signal width is less than Tf, after filtering, the original high level the original high level state is maintained state is maintained <T <T >T The minimum width of the input signal Tmin Input signal Filtered signal Figure 5-8 Example of pulse input signal filtering...
  • Page 53 EA180 Servo Drive Manual P1-22=0: the absolute value of position deviation is less than P1-24. P1-22=1: the absolute value of position deviation is less than P1-24 and the position command is 0. P1-22=2: the absolute value of the position deviation is less than P1-24, and the position command is 0, and the motor zero speed.
  • Page 54 EA180 Servo Drive Manual display reads P-oT or n-oT,The motor stops as per the P0-08 setting. The setting unit at the factory is the command unit and can be changed to the encoder unit via the P8-18 bit3 (at this Note☞...
  • Page 55 EA180 Servo Drive Manual Motor Acceleration/deceleration SACC SDEC rated section of S curve speed Linear S curve acceleration Linear acceleration and deceleration section deceleration Uniform stppe SACC SDEC Uniform Uniform deceleration acceleration section of S curve section of S curve S curve plus Minus deceleration acceleration section...
  • Page 56 EA180 Servo Drive Manual Motor P2_08+10 speed P2_08-10 Time -(P2_08-10) -(P2_08+10) Speed arrival Because of the 10rpm hysteresis, the actual value of speed arrival signal is: Note☞ The speed arrival output OFFON:P2_08+10rpm, ON-OFF:P2.08-10rpm Initial value Commu.addr. 0209H Speed consistency threshold P2-09 Unit Valid time...
  • Page 57 EA180 Servo Drive Manual  Adjust by adjusting the status of the DI terminal defined as TDIR-SEL  Adjust by modifying the plus and minus code of P3-01  Adjust by modifying P0-01 Initial value 100.0 Commu.addr. 0301H Digital torque setting P3-01 Unit Valid time...
  • Page 58 EA180 Servo Drive Manual Initial value Commu.addr. 0400H Gain adjustment mode P4-00 Unit Valid time Immediately 16bit Control mode P S T Range Data size Parameter function: select the mode of gain adjustment. The end number H indicates that the parameter is 16 decimal numbers. Please pay attention to the communication P4-00=0: manual mode The position loop and speed loop gain related parameters and load inertia ratio are set by the user.
  • Page 59 EA180 Servo Drive Manual P4-02 P4-03 P4-05 P4-29 P4-01 Torque command low Position loop proportional Speed loop proportional Speed loop integral time pass smoothing constant gain 1/s gain Hz constant ms 17.5 14.0 40.00 2.00 32.0 18.0 31.00 1.26 39.0 22.0 25.00 1.03...
  • Page 60 EA180 Servo Drive Manual   ASR Ti 5000 / 2 obtained by using the following formula: Initial value 30.0 Commu.addr. 0406H Speed feedforward gain P4-06 Unit Valid time Immediately 16bit Control mode Range 0.0~100.0 Data size Parameter function: set speed, feed forward gain. A speed command that comes out from the position command calculation;...
  • Page 61 EA180 Servo Drive Manual Unit Valid time Immediately 16bit Control mode Range 0~100 Data size Parameter function: set 0 for IP controller, 100 for PI controller, 1~99 for PDFF controller. When using the IP controller, the motor speed does not overshoot or overshoot is small, but the response will be slower. When using the PI controller, the motor speed will overshoot, but the response is rapid.
  • Page 62 EA180 Servo Drive Manual Initial Commu.addr. 0412H value Gain switching threshold P4-18 Unit Pulse\Kpps\rpm Valid time Immediately 16bit Control mode Range 0~32767 Data size Parameter function: set the threshold for gain switching, based on the P4-15 setting  When the motor stops, switch to low gain to suppress vibration and sharp noise ...
  • Page 63 EA180 Servo Drive Manual Bit2: reserved Bit3: reserved. Bit4: speed obverse function Bit5: low noise mode With this function, the gain of the current loop is reduced and noise can be improved Initial value Commu.addr. 0417H Speed observer cutoff level P4-23 Unit Valid time...
  • Page 64 EA180 Servo Drive Manual Initial value Commu.addr. 0420H Torque command added value P4-32 Unit Valid time Immediately 16bit Control mode P S T Range -100.0~100.0 Data size Parameter function: for vertical axis occasions,there is always gravity, you can convert this value to a given torque and add it to the torque command set.
  • Page 65 EA180 Servo Drive Manual 6.9 P5-xx Vibration suppression parameter Initial value Commu.addr. 0500H Adaptive filter mode setting P5-00 Unit Valid time Power on again 16bit Control mode P S T Range Data size Parameter function: select the mode of adaptive filter. P5-00=0: manually set 4 trap devices P5-00=1: trap 3 and trap 4, automatically adjust the depth on the line, width manually set P5-00=2: clear trap 3 and trap 4...
  • Page 66 EA180 Servo Drive Manual Initial value 5000 Commu.addr. 0508H notch frequency P5-08 Unit Valid time Power on again 16bit Control mode P S T Range 50~5000 Data size Initial value Commu.addr. 0509H notch width P5-09 Unit Valid time Power on again 16bit Control mode P S T...
  • Page 67 EA180 Servo Drive Manual 6.10 P6-xx I / O parameters Initial value Commu.addr. 0600H DI filter time P6-00 Unit Valid time Immediately 16bit Control mode P S T Range 0~20 Data size Parameter function: set the filtering time of DI terminal. When the external interference is strong, the filter time can be set for the DI terminal in order to prevent external interference.
  • Page 68 EA180 Servo Drive Manual Parameter function: setting the function of DI1~DI8 terminal, see Table 5-5. 8 DI corresponding function settings, you can set the range of 0~99, but the current part is reserved. Different DI can set the same function number, the corresponding logical relationship is OR, e.g. when the D1 or D2 is valid, the corresponding function will happen.
  • Page 69 EA180 Servo Drive Manual Setting Trigger Running Name Function code Description value mode mode Negative jogging ON: Jog forward OFF: No function Level JOG_N Torque command direction ON: reverse jog operation OFF: No function Level TDIR-SEL selection Electronic Gear Ratio Selection GNUM1 GNUM0 CODE...
  • Page 70 EA180 Servo Drive Manual Table 5-6 digital output (DO) function definition table Running Setting Code Name Description mode Disable Terminal void Effective - servo ready, the S-ON command can be received Servo ready S-RDY P S T Invalid - servo is not ready, the S-ON command can not be received Effective - releasing the holding brake (brake power on) Brake Control P S T...
  • Page 71 EA180 Servo Drive Manual Parameter function: set the effective and invalid delay time for each DO output. Event Happen happen happen Not happen Void Void Effective output DO effective DO void delay delay Initial value 0000B Commu.addr. 0618H DO Forced output P6-24 Unit Valid time...
  • Page 72 EA180 Servo Drive Manual Initial value Commu.addr. 061DH AI1 offset P6-29 Unit Valid time Immediately 16bit Control mode P S T Range -3000~3000 Data size Initial value Commu.addr. 061EH AI2 offset P6-30 Unit Valid time Immediately 16bit Control mode P S T Range -3000~3000 Data size...
  • Page 73 EA180 Servo Drive Manual Parameter function: set the meaning of AO terminal output When the output of the AO terminal is 10V, it means that the amount it represents reaches at the maximum value Setting AO output Setting AO output The actual motor speed: 1V corresponds to Write P6-42 direct output: -10000 ~10000mV 1000rpm...
  • Page 74 EA180 Servo Drive Manual Parameter function: This machine is the slave address. Initial value Commu.addr. Modbus Communication baud rate P7-01 Unit Valid time Immediately 16bit Control mode P S T Range Data size Parameter function: set baud rate of local communication P7-01=0:4800 bps P7-01=1:9600 bps P7-02=2:19200 bps...
  • Page 75 EA180 Servo Drive Manual the high and 1:Read: high 16-bit first,then low bit setting low 16-bit of 32-bit 2:Read: low 16-bit first, then function code high 16-bit; Write: on the contrary 3: Read: high 16-bit first, then low 16-bit; Write: on the contrary 6.12 P8-xx Extended function parameters Initial value...
  • Page 76 EA180 Servo Drive Manual revolutions is negative, the value exceeds the set value, and the current command direction is negative, then reverse overrun processing, LED display n-ot, WARN terminal output effective. Initial value Commu.addr. 0806H Absolute encoder use method selection P8-06 Unit Valid time...
  • Page 77 EA180 Servo Drive Manual Motor blocking judgement logic: Speed command Drive Motor speed < Output torque > Duration > P8- P8-15=0 far more than running P8-15 P8-14 P8-15 Continuous output as per current torque command Satisfy overload Motor output torque Alarm protection? is limited to P8-17...
  • Page 78 EA180 Servo Drive Manual bit1=1: open the instantaneous power outage maintenance function, which will turn on the power down detection function by default and block the Al01D alarm within P8-24 time. When this function is opened, the motor can continue to power on (servo ON) according to the time set by P8-24, even if the main circuit of the drive is in instantaneous power failure.
  • Page 79 EA180 Servo Drive Manual Parameter function: when the instantaneous power failure occurs in the main circuit power supply, the time to keep the motor power on continuously. Please see the commands of P8-18 bit1. Initial value 100.0 Commu.addr. 0019 Internal torque limiting P8-25 Unit Valid time...
  • Page 80 EA180 Servo Drive Manual Servo ON Pr15 Pr13 Pr11 Pr10 Pr16 Pr14 Pr12 enable OFF, re-enable ON to start execution from Pr1. Note☞ the stopping time parameter for each segment is valid. P9-00=1:According to the 16 position commands, start a single cycle from Pr1, servo enabled ON and automatically start. After the operation of Pr16 segment is completed, it stops, and it needs to be re enabled before running again.
  • Page 81 EA180 Servo Drive Manual Running pulse Stop time Pr command CMD3 CMD2 CMD1 CMD0 CTRG Allowable speed numbers ↓ P9-58 P9-60 P9-61 Pr14 ↓ P9-62 P9-64 P9-65 Pr15 ↓ P9-66 P9-68 P9-69 Pr16 Note: 0/1 in the table simply indicates that the DI terminal is invalid / valid and does not indicate the actual level. Note☞...
  • Page 82 EA180 Servo Drive Manual 16bit Control mode Range Data size Parameter function:When a multi - segment position is set, the commands are executed in relative or absolute positions. P9-02=0:Based on the current position, executed in incremental position. The number of pulses defined for each segment of the command at the multi segment position, are calculated from the static position of the current motor.
  • Page 83 EA180 Servo Drive Manual using this method, the motion commands can be smoothed and the vibration and abnormal sound of the mechanical Note☞ structure can be avoided because of the sharp change of the position commands. P9-03, P9-04 indicate that the motor speed variables are acceleration and deceleration time for motor rated speed. If the change in target speed is not motor rated speed, the required time varies according to the ratio of the motor to the rated speed.
  • Page 84 EA180 Servo Drive Manual 〇 P9-34 Pulse no. of Multi-position command Pr8 -2147483647~2147483647 Pulse 0922H 〇 P9-36 Travel rate of Multi-position command Pr8 1~10000 0924H 〇 P9-37 Pr8 stop time 0~65535 0925H 〇 P9-38 Pulse no. of Multi-position command Pr9 Pulse 0926H -2147483647~2147483647...
  • Page 85 EA180 Servo Drive Manual edge again. Spd2 Spd3 Spd4 Spd5 Spd6 Spd9 Spd1 Spd7 Spd8 伺服ON CTRG↓ 再次运行 Spd16 Spd15 Spd14 Spd13 Spd12 Spd11 Spd10 PA-00=3:By external DI input, according to Table 5-3, select the desired segment for execution, then keep running until the command is changed.
  • Page 86 EA180 Servo Drive Manual Unit Valid time Immediately 16bit Control mode Range 0, 1~16 Data size Parameter function: when PA-00=4 , this parameter is used to select the segments to be executed. When this parameter is set to nonzero, the specified segment speed is executed immediately. For example, when the parameter is changed to 8, then run right away at speed PA-17 of segment , when this parameter is 0, stop and waiting for next command.
  • Page 87 EA180 Servo Drive Manual 6.15 Pb-xx Homing parameters Initial value Commu.addr. 0A00H Zero return failure alarm time Pb-00 Unit Valid time Immediately 16bit Control mode Range 0~65535 Data size Parameter function: starting homing command, if you cannot locate the origin after the parameter setting time, the drive display Al01C alarm and the ALM terminal acts.
  • Page 88 EA180 Servo Drive Manual Initial value Commu.addr. 0A00H Homing mode Pb-02 Unit Valid time Immediately 16bit Control mode Range 1~35 Data size Parameter function: sets the short distance movement mode near the origin: Pb-02=1: Target Zero position: the first motor Z signal after the negative limit switch N-OT falling edge. Deceleration point: negative limit switch (N-OT) ...
  • Page 89 EA180 Servo Drive Manual Trigger signal Reverse limit switch Forward limit switch Position Motor speed Pb-04 Motion pulse trajectory Motor Z signal P-OT signal P-OT signal Pb-02=3:  Target Zero position: the first motor Z pulse following ORPG falling edge ...
  • Page 90 EA180 Servo Drive Manual Origin detecting switch Trigger signal Reverse limit switch Forward limit switch Pb-04 Motor Position speed Pb-03 Motion trajectory Motor Z signal Z pulse ORPG signal ORPG signal Pb-02=5: Target Zero position: the first Z pulse after the falling edge of the ORPG Deceleration point: origin switch (ORPG) If the ORPG signal is invalid when zero position return starts, the reverse will run at Pb-03, slow down after the rising edge of the ORPG, and then look for the target zero at the positive speed of Pb-04.
  • Page 91 EA180 Servo Drive Manual  If the ORPG signal is not valid, the target zero position is searched directly at the speed of Pb-04. Origin detecting switch Reverse limit switch Forward limit switch Trigger signal Position Motor speed Pb-04 Motion trajectory Z pulse Motor Z signal...
  • Page 92 EA180 Servo Drive Manual Origin detecting switch Pb-03 Motor Reverse limit switch Forward limit switch speed Pb-04 Position Pb-04 Motion Trigger signal trajectory Z pulse Motor Z signal ORPG signal ORPG signal P-OT signal P-OT signal  If encountered positive limit switch P-OT signal, automatically run at a negative speed of Pb-03, meet the rising edge of OPRG, slow down to the speed of Pb-04, continue to run until the falling edge of ORPG is met, reverse and run at a speed of Pb-04 until the target zero stop is found.
  • Page 93 EA180 Servo Drive Manual OPRG, slow down to stop, and then reverse at Pb-04 speed until target zero position is found. Origin detecting switch Reverse limit switch Pb-03 Forward limit switch Motor speed Pb-04 Position Pb-04 Pb-03 Trigger signal Motion trajectory Z pulse Motor Z signal...
  • Page 94 EA180 Servo Drive Manual directly. Origin detecting switch Forward limit Trigger signal Reverse limit switch switch Motor Position Pb-04 speed Motion trajectory Z pulse Motor Z signal ORPG ORPG signal signal Forward limit switch Pb-02=11、12、13、14: Similar to Pb-02=7~10, only the initial direction is opposite. Pb-02=17 至...
  • Page 95 EA180 Servo Drive Manual Unit Valid time Immediately 16bit Control mode Range 1~65535 Data size Parameter function: set the acceleration and deceleration time in the process of homing. Acceleration time is the time from the 0 speed to the motor's rated speed. Deceleration time is the speed from the motor speed down to 0 speed.
  • Page 96 EA180 Servo Drive Manual Code Function Intial value Unit Attr Commu.address ● Pd-28 Current loop gain tuning 0D1CH ● Pd-29 Motor flange size Determined by motor code 0D1DH Chapter 7 Warning and troubleshooting Alarm diagnosis and treatment measures A servo drive alarm occurs, the operation will fail on the digital display The motor will coast to stop or zero speed stop (according to P0-08 setting, but zero speed stop only for two alarms).
  • Page 97 EA180 Servo Drive Manual The external analog sample deviation is too Power off and restart, whether this alarm still occurs Send to our dealer large or the conversion time out Al 007 : encoder error 1 Alert cause Check Treatment The encoder is loose check CN5 connector and encoder connector re-install...
  • Page 98 EA180 Servo Drive Manual 1: whether there are mechanical shocks, Incorrect control parameter motor abnormal sound 1: adjust the position, speed gain value setting 2: rapid acceleration deceleration 2: slow down the acceleration and deceleration time setting Drive or motor failure Exclude the above questions Send to our dealer Al 010...
  • Page 99 EA180 Servo Drive Manual Alert cause Check Treatment Replace the battery (Please keep the encoder and the drive CN5 The battery voltage of absolute terminal in good condition and replace the battery when the Measure the battery voltage encoder is below 3.1V drive is powered on.
  • Page 100 EA180 Servo Drive Manual exceeds 1MHz high Use a qualified twisted shielded wire to transmit the Whether there is serious interference pulse signal Al 034 : Analog zero drift error correction Alert cause Check Treatment When performing the autotuning of zero The commands from the upper computer is set drift, whether the upper computer For zero drift self-learning, the...
  • Page 101 EA180 Servo Drive Manual Ensure brake resistor derating When applied an external braking resistor, if the percentage (P8-13) is appropriate power is sufficient, increase the set value of P8-13 Make sure the deceleration time is too Extended deceleration time short AlE09 : Communication parameters written and storage times in EEPROM are too many Alert cause...
  • Page 102 EA180 Servo Drive Manual Chapter 8 Specification 8.1 EA180 servo drive specification Model EA180- 1R6-2A 2R8-2A 5R5-2A 7R6-2A 010-2A 5R4-3A 8R4-3A 012-3A 2500ppr Applicable Encoder Model EA180- 1R6-2B 2R8-2B 5R5-2B 7R6-2B 010-2B 5R4-3B 8R4-3B 012-3B 018-3B 021-3B 026-3B 17 bit incremental/ absolute,23 bit incremental /absolute Applicable Encoder SIZE A SIZE B...
  • Page 103 Resistance Analog command input Time constant 200µ s Digital setting or external analog limiting Speed limiting ± 3%(current repitition accuracy Accuracy 8.2 Dimension of EA180 servo drive 3- d SINEE EA100 Structure L(mm) H(mm) D(mm) L1(mm) H1(mm) d(mm) Screw Torque Nm SIZE A 0.6-1.2...
  • Page 104 EA180 Servo Drive Manual ⑥ Encoder type 1:with brake(DC24V) A:2500ppr Y:Shaft with U-shaped slot and screw 2:with oil seal hole B:17bit incremental Z:Shaft with double-circle slot and 3:with brake and oil sea C: 17 bit absolute screw hole F:23bit absolute ⑩...
  • Page 105 EA180 Servo Drive Manual Note: the value in ( ) is for the motor with brake. SER13- Servo motor model 1R0-20- 1R2-30- 1R8-30- 0R7-20- 1R0-10- 1R0-20- 1R0-30- 2□BY□ 2□BY□ 2□BY□ 2□CY□ 2□BY□ 2□BY□ 2□BY□ 220V Voltage class(V) 2500ppr Motor code*3 17-bit Rated power(W)*1 1000...
  • Page 106 EA180 Servo Drive Manual *3:Motor with brake, if not listed separately in ( ), increase their rotational inertia by 0.02Kg.cm2. Note: the value in ( ) is for the motor with brake. Servo motor dimensions 8.4.1 40 flange servo motor, installation sizes in:mm 动力线缆插座...
  • Page 107 EA180 Servo Drive Manual LD Sizes vary with different models: Motor model Motor model SER09-0R7-30-2□BZ 148mm SER09-0R7-30-2□BZ1 183mm 8.4.5 110 flange motor, installation sizes in: mm LD Sizes vary with different models: Motor model Motor model SER11-0R6-30-2□BY 155.5mm SER11-1R0-20-2□BY1 210.5mm SER11-1R0-20-2□BY 205.5mm SER11-1R0-20-2□BY1...
  • Page 108 EA180 Servo Drive Manual SER13-2R0-20-3□BY 215mm SER13-2R0-20-3□BY1 270mm SER13-2R0-30-3□BY 185mm SER13-2R0-30-3□BY1 240mm SER13-3R0-20-3□BY 265mm SER13-3R0-20-3□BY1 320mm SER13-3R0-30-3□BY 215mm SER13-3R0-30-3□BY1 270mm 8.4.7 180 flange servo motor, installation sizes in:mm LD Sizes vary with different models: Motor model Motor model SER18-3R0-15-3□BZ 173.5mm SER18-3R0-15-3□BZ1 222.0mm SER18-3R0-15-3□CZ...
  • Page 109 EA180 Servo Drive Manual 10000 Load rate Operation time(S) 110、130 1000 flange flange 471.1 608.8 62.9 81.2 31.4 40.6 20.0 25.8 14.3 18.5 10.9 14.1 11.1 100% 150% 200% 250% 300% Load rate (Output torque/Rated torque*100%)

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